Significant advances in various relevant
science and engineering disciplines have propelled the development of more
advanced, yet reliable and practical underwater vehicles. A great array of
vehicle types and applications has been produced along with a wide range of
innovative approaches for enhancing the performance of unmanned underwater
vehicle (UUV). These recent advances enable the extension of UUVs’ flight
envelope comparable to that of manned vehicles. For undertaking longer
missions, therefore more advanced control and navigation will be required to
maintain an accurate position over larger operational envelope particularly
when a close proximity to obstacles (such as manned vehicles, pipelines,
underwater structures) is involved. In this case, a sufficiently good model is
prerequisite of control system design. System evaluation and testing of
unmanned underwater vehicles in certain environment can be tedious, time
consuming and expensive. This paper, focused on developing dynamic model of UUV
for the purpose of guidance and control. Along with this a HILS
(Hardware-In-the-Loop Simulation) based novel framework for rapid construction
of testing scenarios with embedded systems has been investigated. The modeling
approach is implemented for the AUV Squid, an autonomous underwater vehicle
that was designed, developed and tested by research team at Center for Unmanned
System Studies at InstitutTeknologi Bandung.

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